TWI557418B - Method and system for computing universal hybrid navigation information for a gnss enabled device - Google Patents

Description

Universal hybrid navigation information calculation method and system for GNSS enabled device

The present invention relates to signal processing of Global Navigation Satellite Systems (GNSS). More specifically, the present invention relates to a method and system for computing generic hybrid navigation information for a GNSS enabled device.

As a new value-added service provided by mobile communication networks, location-based services (LBS) are emerging. The location service is designed to support a variety of location applications (eg, the US 911 Emergency Notification System (E-911) (enhanced 911), location-based telephone enquiry line 411 (location-based 411), location information, and/or location-seeking services ( Friend finding service)) A mobile service that uses user location information.

The location of the mobile device can be determined in different ways, such as using network-based technologies, using terminal-based technologies, and/or hybrid technologies (a combination of prior art). To support LBS applications, many positioning techniques such as time of arrival (TOA), observed time difference of arrival (OTDOA), enhanced time difference detection and location (E-OTD), and global navigation satellite systems (GNSS) (eg GPS, GLONASS, Galileo satellite navigation) The system and/or auxiliary GNSS (A-GNSS) is adapted to estimate the position (longitude and latitude) of the mobile device and convert that position into meaningful X, Y coordinates. A-GNSS technology combines satellite positioning and communication networks (such as mobile networks) to achieve a performance level that allows for widespread deployment of location services.

Comparing the systems of the present invention which will be described later in conjunction with the drawings, other limitations of conventional techniques and Disadvantages will be apparent to those skilled in the art.

A more complete description of the scope of the patent application, as described in at least one of the drawings and/or described in relation to at least one of the drawings, provides a system for calculating general hybrid navigation information for a GNSS enabled device and / or method.

According to one aspect of the invention, a method of processing a signal is provided, the method comprising: in a Global Navigation Satellite System (GNSS) enabled device for processing a plurality of sensors: collecting GNSS measurement data and navigation related non- - GNSS sensor data; formatting the collected navigation-related non-GNSS sensor data to be consistent with the format of the collected GNSS measurement data; and utilizing the collected GNSS measurement data and the The formatted non-GNSS sensor data is used to calculate navigation information of the GNSS enabled device through a single function.

Preferably, the plurality of sensors comprise a cellular radio, a wireless LAN (WiFi) radio, a Bluetooth radio, an FM radio, a magnetic sensor, a motion sensor, a rate At least two of a gyroscope, a pressure sensor, an image sensor, and/or a sonar sensor.

Advantageously, the method further comprises estimating a measurement error in said collected navigation related non-GNSS sensor data.

Advantageously, the method further comprises determining a measurement accuracy of said collected navigation related non-GNSS sensor data based on the estimated measurement error.

Advantageously, the method further comprises removing erroneous measurement data from said collected navigation related non-GNSS sensor data based on said determined measurement accuracy.

Advantageously, the method further comprises selectively employing said collected navigation related non-GNSS sensor data based on said determined measurement accuracy.

Advantageously, the method further comprises adding time tagging to said employed navigation related non-GNSS sensor data.

Advantageously, the method further comprises combining said collected GNSS measurement data with said time-stamped navigation related non-GNSS sensor data to calculate said GNSS by said single function module The navigation information of the device.

Advantageously, the method further comprises correcting said collected navigation related non-GNSS sensor data based on said calculated navigation information of said GNSS enabled device.

Advantageously, the method further comprises correcting one or more of said plurality of sensors based on said calculated navigation information of said GNSS enabled device.

According to one aspect of the invention, a system for processing a signal is provided, the system comprising: one or more circuits for use in a Global Navigation Satellite System (GNSS) enabled device for processing a plurality of sensors, the one Or a plurality of circuits for: collecting GNSS measurement data and navigation related non-GNSS sensor data; formatting the collected navigation related non-GNSS sensor data to and from the collected GNSS measurement data The format is consistent; and the navigation information of the GNSS enabled device is calculated by a single function using the collected GNSS measurement data and the formatted non-GNSS sensor data.

Preferably, the plurality of sensors comprise a cellular radio transceiver, a wireless LAN (WiFi) radio transceiver, a Bluetooth radio transceiver, an FM radio transceiver, a magnetic sensor, a motion sensor, a rate gyroscope, At least two of a pressure sensor, an image sensor, and/or a sonar sensor.

Advantageously, said one or more circuits are operable to estimate a measurement error in said collected navigation related non-GNSS sensor data.

Advantageously, said one or more circuits are operative to determine said based on said estimated measurement error The accuracy of the collected navigation-related non-GNSS sensor data is measured.

Advantageously, said one or more circuits are operable to remove erroneous measurement data from said collected navigation related non-GNSS sensor data based on said determined measurement accuracy.

Advantageously, said one or more circuits are operable to selectively employ said collected navigation related non-GNSS sensor data based on said determined measurement accuracy.

Advantageously, said one or more circuits are operative to time stamp the navigation related non-GNSS sensor data employed.

Advantageously, said one or more circuits are operable to combine said collected GNSS measurement data with said time-stamped navigation-related non-GNSS sensor data to calculate said said single function module The navigation information of the GNSS enabled device.

Advantageously, said one or more circuits are operable to correct said collected navigation related non-GNSS sensor data based on said calculated navigation information of said GNSS enabled device.

Advantageously, said one or more circuits are operable to correct one or more of said plurality of sensors based on said calculated navigation information of said GNSS enabled device.

The various advantages, aspects, and novel features of the invention, as well as the details of the embodiments illustrated herein, are described in the following description and drawings.

100‧‧‧Communication system

112-116‧‧‧Global Navigation Satellite System (GNSS) enabling equipment

120‧‧‧GNSS satellite

122-126‧‧‧GNSS satellite

132-136‧‧‧ sensor

140‧‧‧ sensor target

200‧‧‧GNSS enabling equipment

210‧‧‧GNSS radio transceiver

222a-222c‧‧‧ Sensor

230‧‧‧Host central processing unit (CPU)

232‧‧‧GNSS application

240‧‧‧ memory

300‧‧‧Host CPU

310‧‧‧Host kernel module

312-316‧‧‧Sensor drive

320‧‧‧User Application Module

322‧‧‧ Consistent drive

324‧‧‧Measurement error estimator

326‧‧‧GNSS applications or features

1 is a schematic diagram of an exemplary communication system for computing generic hybrid navigation information for a GNSS enabled device using hybrid navigation related non-GNSS sensor data, in accordance with an embodiment of the present invention; FIG. 2 is an embodiment of the present invention Schematic diagram of an exemplary GNSS enabled device for combining mixed navigation related non-GNSS sensor data to calculate universal hybrid navigation information for a GNSS enabled device; FIG. 3 is a hybrid utilization method in accordance with an embodiment of the present invention. An exemplary host for GNSS enabled devices that navigates related non-GNSS sensor data to calculate general hybrid navigation information for GNSS enabled devices Schematic diagram of a CPU structure; FIG. 4 is a flow diagram of exemplary steps for merging mixed navigation-related non-GNSS sensor data to be suitable for GNSS applications performed by a GNSS enabled device, in accordance with an embodiment of the present invention; Is a flow diagram of exemplary steps of a GNSS enabled device utilizing calibration of non-GNSS sensor data performed by universal hybrid navigation information of a GNSS enabled device in accordance with an embodiment of the present invention.

The present invention relates to a method and system for computing generic hybrid navigation information for a GNSS enabled device. In various embodiments of the invention, a Global Navigation Satellite System (GNSS) enabled device for processing a plurality of sensors may obtain GNSS measurements from received GNSS signals. The GNSS measurement data can be collected to calculate navigation information for the GNSS enabled device, such as location, speed, and/or time. The GNSS enabled device can also receive navigation related non-GNSS sensor data, referred to as non-GNSS measurement data, based on measurements from multiple sensors Obtained or detected by at least two non-GNSS signals. The collected navigation related non-GNSS sensor data can be automatically formatted into a data format that is identical or identical to the format of the GNSS measurement data. Formatted navigation-related non-GNSS sensor data can be combined with GNSS measurement data to calculate navigation information through a single functional module (eg, a single GNSS application) regardless of sensor configuration or type. Sensors may be configured in various ways, such as a cellular radio, a wireless LAN (WLAN) of a WiFi radio, a motion sensor, and/or a light sensor. The GNSS enabled device can estimate the measurement error in the collected navigation related non-GNSS sensor data to quantify or determine the corresponding measurement accuracy. The navigation-related non-GNSS sensor data collected with low measurement accuracy (large measurement error) can be discarded, thereby removing erroneous measurement data from the collected navigation-related non-GNSS sensor data. The navigation-related non-GNSS sensor data collected with high measurement accuracy (small measurement error) can be used, thereby applying a single GNSS application The GNSS enabled device calculates navigation information. The navigation information of the GNSS enabled device can be calculated by adding time stamps to the navigation related non-GNSS sensor data and combining it with the GNSS measurement data. Where appropriate, the generated, calculated navigation information can be utilized to correct the collected non-GNSS sensor data and corresponding sensors.

1 is a schematic diagram of an exemplary communication system for computing generic hybrid navigation information for a GNSS enabled device using hybrid navigation related non-GNSS sensor data, in accordance with an embodiment of the present invention. Referring to Figure 1, a communication system 100 is shown. Communication system 100 includes GNSS enabled devices 112-116, GNSS satellites 120, sensors 132-136, and a plurality of sensor targets 140.

A GNSS enabled device (eg, GNSS enabled device 112) can be communicatively coupled to one or more sensors (eg, sensors 132-136). GNSS enabled device 112 may include suitable logic, circuitry, interfaces, and/or code for simultaneously receiving GNSS satellite broadcast signals from GNSS satellites (eg, GNSS satellites 120) within the field of view, and through sensors 132- 136 collected sensor data from multiple sensor targets 140. The collected sensor data may also be referred to as non-GNSS measurement data or non-GNSS sensor data that is obtained or detected by sensors 132-136 on appropriate non-GNSS signals. The GNSS enabled device 112 can be configured to obtain various GNSS measurements (eg, pseudorange and/or carrier phase) from the received GNSS signals. The GNSS measurement data can be collected and stored to calculate navigation information (eg, GNSS position, speed, and/or time (PVT)) for the GNSS enabled device 112. For example, the GNSS enabled device 112 can utilize a stored GNSS measurement for navigation information calculations, operatively execute or execute a single functional module (eg, a GNSS application). The GNSS application can include a library of software (executable) and/or code that can be executed or executed for a given input read in accordance with a data format of the GNSS measurement data. The GNSS application can provide or output navigation information for the GNSS enabled device 112.

In an exemplary embodiment of the present invention, GNSS enabled device 112 may utilize the same GNSS application to combine or process a hybrid navigation related non-GNSS sensor for navigation information calculations. material. The GNSS application can be used to calculate or determine navigation information for the GNSS enabled device 112 without knowing in advance the source of the possible navigation-related non-GNSS sensor data. Navigation related non-GNSS sensor data may be collected by one or more sensors 132-136 configured in various ways. Sensors 132-136 may include suitable logic, circuitry, interfaces, and/or code for collecting data from multiple sensor targets 140. The sensors 132-136 can be configured, for example, as a cellular radio, a wireless LAN (WiFi) radio, a Bluetooth radio, an FM radio, an accelerometer, a magnetic compass, a rate gyroscope (rate gyro) ), terrain model lookup tables, altimeters, cameras, and/or motion sensors. The sensor target 140 can include outdoor and/or indoor objects, spaces, and/or other things that can be detected by the sensors 132-136. For example, the sensor target can be an indoor access point, a cellular base station, a WiMAX base station, an FM transmitter station, a TV transmitter station, a Bluetooth headset, a map, a train station, a bus stop, an airport, light, sound, and/or can transmit or indicate A device that is related to navigation information.

In an exemplary embodiment of the invention, the GNSS enabled device 112 may automatically format or map the collected navigation related non-GNSS sensor data to conform to or fit the data format supported by the GNSS application (eg, GNSS measurements) Data format). For example, in some cases, the collected navigation related non-GNSS sensor data may include WiFi measurements. The GNSS enabled device 112 can convert the WiFi measurement data into location data, speed data, and/or time data in accordance with the GNSS measurement data format. In this regard, the GNSS enabled device 112 can isolate or separate the use of the GNSS application from the underlying sensor software interface or infrastructure. Now, the navigation-related non-GNSS sensor data in a formatted, GNSS measurement data format can be an input to a GNSS application. The GNSS enabled device 112 can override GNSS measurement data and/or non-GNSS sensor data (eg, collected mixed navigation related non-GNSS sensor data) regardless of the corresponding sensor configuration or type. Maintain the same GNSS application for navigation information calculations. Thus, the calculated navigation information from the GNSS application can be referred to as the generic hybrid navigation information of the GNSS enabled device 112.

In an exemplary embodiment of the invention, GNSS enabled device 112 may quantify measurement accuracy based on collected navigation related non-GNSS sensor data. In this regard, the GNSS enabling device 112 can determine or estimate a measurement error (eg, Root Mean Square Error (RMSE)) in the collected navigation related non-GNSS sensor data. The GNSS enabled device 112 can determine whether the collected navigation related non-GNSS sensor data is good or accurate for navigation information calculations based on respective measurement error estimates. For example, navigation-related non-GNSS sensor data collected with navigation-related non-GNSS sensor data with large measurement errors is not accurate, and navigation-related non-GNSS sensor data with small measurement errors are accurate. In this regard, the collected low-accuracy navigation-related non-GNSS sensor data can be discarded to remove erroneous measurement data from the collected navigation-related non-GNSS sensor data. The collected high-accuracy navigation-related non-GNSS sensor data can be used for navigation information calculation. In this regard, the GNSS enabled device 112 can add a time stamp or time stamp to the navigation related non-GNSS sensor data employed. The resulting navigation-related non-GNSS sensor data plus time stamps or time stamps can be an input to the GNSS application for navigation information calculations. In this regard, the GNSS application can combine time-stamped navigation-related non-GNSS sensor data with GNSS measurement data to calculate generic hybrid navigation information for the GNSS enabled device 112.

In an exemplary embodiment of the invention, the GNSS enabled device 112 may utilize the generic hybrid navigation information provided by the GNSS application to correct the collected navigation related non-GNSS sensor data and/or corresponding sensors. In this regard, the GNSS enabled device 112 can evaluate the measurement accuracy of the generic hybrid navigation information to determine whether to use or utilize the navigation information output from the GNSS application for sensor correction. Universal hybrid navigation information with high measurement accuracy can be used to correct collected navigation related non-GNSS sensor data and/or corresponding sensors. For example, in some cases, GNSS enabled device 112 may include an accelerometer (sensor) that acts as a step counter. The initial step size used by the accelerometer may not be known at the beginning. When the GNSS enabled device 112 is outdoors and has clarity The speed output from the GNSS application in the GNSS enabled device 112 may have a small measurement error when viewed in the air. The GNSS enabled device 112 can then utilize the speed output from the GNSS application to correct the step size of the accelerometer. In the case where the GNSS enabled device 112 is indoors and does not have a clear aerial view, the speed output from the GNSS application can have large measurement errors. The GNSS enabled device 112 may stop using the speed output from the GNSS application to correct the step size of the accelerometer.

A GNSS satellite (e.g., GNSS satellite 122) may include suitable logic, circuitry, interfaces, and/or code for providing satellite navigation information to various GNSS receivers on the earth. The GNSS satellite 122 can be used to periodically broadcast its own ephemeris. For example, in the case where the GNSS satellite 122 is a GPS satellite, the GNSS satellite 122 can broadcast a GPS ephemeris every 30 seconds, and it takes a total of 18 seconds to transmit a full ephemeris. The broadcast ephemeris can be used to calculate navigation information for the GNSS receiver (eg, GNSS enabled device 112), such as location, speed, and clock information. The GNSS satellite 122 can be used to update the ephemeris, for example every two hours. The broadcast ephemeris is valid for a limited period of time from the broadcast time to the future, such as 2 to 4 hours.

In an exemplary operation, a GNSS enabled mobile device (e.g., GNSS enabled mobile device 112) can be used to simultaneously receive GNSS satellite signals from GNSS satellites 120, as well as non-GNSS sensing collected by sensors 132-136. Information. The GNSS enabled mobile device 112 can obtain GNSS measurements based on the received GNSS signals. The resulting GNSS measurements can be an input to a GNSS application for navigation information calculations. The GNSS application can calculate or output navigation information (eg, position, speed, and/or time (PVT)) of the GNSS enabled mobile device 112. In various exemplary embodiments of the invention, GNSS enabled mobile device 112 may track and collect navigation related non-GNSS sensor data through sensors 132-136. The collected navigation related non-GNSS sensor data can be automatically converted or formatted into a format that matches the GNSS measurement data format. Measurement errors (eg, RMSE) in the collected navigation-related non-GNSS sensor data may be determined or estimated to quantify or determine corresponding measurement accuracy. The GNSS enabled mobile device 112 can be based on corresponding measurement accuracy, Determining the collected navigation-related non-GNSS sensor data is acceptable or rejected for navigation information calculations. For example, collected navigation-related non-GNSS sensor data with low measurement accuracy may be discarded to remove measurement errors from navigation information calculations. Time stamps or time stamps can be added to the collected navigation-related non-GNSS sensor data with high measurement accuracy. The resulting navigation-related non-GNSS sensor data with time stamps or time stamps can be an input to a GNSS application for navigation information calculations. At this point, GNSS applications can use non-GNSS measurements (eg, time-stamped navigation-related non-GNSS sensor data) for navigation information calculations through the same GNSS application, regardless of non-GNSS measurements. Where does the information come from? GNSS applications can combine GNSS measurements with non-GNSS measurements (such as navigation-related non-GNSS sensor data) to enhance or improve the accuracy of navigation information calculations. When appropriate, the resulting navigation information output from the GNSS application can be used to correct the collected non-GNSS sensor data and/or sensors. For example, GNSS enabled device 112 can include a magnetic compass (sensor) that acts as a finder. In some cases, the magnetic compass has a bias, and navigation information from the GNSS application may include heading, which is the direction in which the GNSS enabled device 112 is currently moving. In this regard, the enabling device 112 can utilize the heading output from the GNSS application to correct or compensate for the deviation of the magnetic compass and thereby improve the heading accuracy of the magnetic compass.

2 is a schematic diagram of an exemplary GNSS enabled device for combining mixed navigation related non-GNSS sensor data to calculate universal hybrid navigation information for a GNSS enabled device, in accordance with an embodiment of the present invention. Referring to Figure 2, a GNSS enabled device 200 is shown. The GNSS enabled device 200 includes a GNSS radio 210, a plurality of sensors 222a-222c, a host central processor 230, a GNSS application 232, and a memory 240.

The GNSS radio 210 may include suitable logic, circuitry, interfaces, and/or code for detecting and receiving GNSS signals from a plurality of visible GNSS satellites (e.g., GNSS satellites 122-126). Received GNSS signals can be used for various GNSS measurements, such as corresponding broadcast GNSS The pseudorange and/or carrier phase of the satellite. The GNSS radio 210 can provide the received GNSS signals to the host CPU 230 for further analysis.

A sensor (eg, sensor 222a) may include suitable logic, circuitry, interfaces, and/or code for receiving or collecting non-GNSS material from various sensor targets (eg, sensor target 140). The collected non-GNSS sensor data can be transmitted to the host CPU 230 for further analysis. The sensor 222a can be configured in a variety of ways. For example, sensor 222a can be configured as a cellular radio, a WiMAX radio, a Bluetooth radio, a WLAN radio, an image sensor, a light sensor, an audio sensor, and/or a sense of position. Detector.

Host CPU 230 may include suitable logic, circuitry, interfaces, and/or code for managing and/or manipulating related device components (eg, GNSS radio 210, sensors 222a-222c, and/or GNSS) depending on the application. Application 232) operation. For example, host CPU 230 may be used to initiate or disable one or more associated device elements (e.g., GNSS radio 210) in accordance with the need for power savings. The host CPU 230 can perform various GNSS measurements (eg, pseudorange and/or carrier phase) based on the received GNSS signals. The host CPU 230 can provide GNSS measurement data to the GNSS application 232 for navigation information calculations of the GNSS enabled device 220.

The GNSS application 232 can include suitable logic, interfaces, and/or code for running or executing code (eg, a library of software) to provide or output navigation information for the GNSS enabled device 200. Inputs to the GNSS application 232 may include GNSS measurements and non-GNSS measurements, such as mixed navigation related non-GNSS sensor data collected by various sensors (eg, light sensors and cellular radios). In this regard, the collected navigation related non-GNSS sensor data can be automatically formatted or converted to a GNSS measurement data format supported by the GNSS application 232. The formatted navigation related non-GNSS sensor data can be an input to the GNSS application 232 for navigation information calculation regardless of the corresponding sensor configuration or type. The resulting navigation information output from the GNSS application 232 can be used to support various applications (eg, positioning applications), and/or to correct collected collections. Navigation related non-GNSS sensor data and/or corresponding sensors 222a-222c.

Memory 240 may include suitable logic, circuitry, interfaces, and/or code for storage by host CPU 230 and/or other related component units (eg, GNSS radio 210 and/or sensors 222a-222c) ) Information used (such as executable instructions and materials). Memory 240 can include RAM, ROM, low latency non-volatile memory (e.g., flash memory), and/or other suitable electronic material storage.

In an exemplary operation, host CPU 230 of GNSS enabled mobile device 200 can be used to obtain GNSS measurements from GNSS signals received by GNSS radio 210. The GNSS measurement data may be collected to provide input to the GNSS application 232 to calculate navigation information (eg, GNSS position, speed, and/or time) of the GNSS enabled device 200. Host CPU 230 may also receive navigation related non-GNSS sensor data collected by sensors 222a-222c, which may be configured in various ways, such as cameras, rate gyros, terrain model lookup tables, and/or Cellular wireless transceiver. In this regard, the collected navigation related non-GNSS sensor data may include or indicate navigation information (eg, position, speed, and/or time) associated with the respective sensor target in one manner or another. . For example, the collected signal strength of the navigation related non-GNSS sensor data may indicate the relative distance between the GNSS enabled device 200 and the corresponding sensor target (eg, a WiFi access point). In another example, a sensor (eg, sensor 222a) can be configured as a cellular radio. The cellular Doppler of the corresponding collected non-GNSS sensor data may indicate or relate to speed and/or heading information associated with a corresponding sensor target (eg, a cellular base station).

To quantify or determine measurement accuracy, the measurement error (eg, RMSE) of the collected navigation-related non-GNSS sensor data may be evaluated or estimated. In this regard, the GNSS application 232 can discard the collected navigation-related non-GNSS sensor data with low measurement accuracy (large measurement error) to remove erroneous measurement data from the navigation information calculation. The GNSS application 232 can employ or incorporate collected navigation-related non-GNSS sensor data with high measurement accuracy (small measurement error), For navigation information calculations. The navigation related non-GNSS sensor data can be formatted into a GNSS measurement data format. In this regard, non-GNSS data automatic formats can be collected from various sensor targets (eg, cellular base stations, WiFi access points, Bluetooth devices, physical maps, and/or navigation related sounders) The input to the GNSS application 232 for navigation information calculation. In this regard, host CPU 230 can run the same GNSS application 232 for navigation information calculations via GNSS measurements and non-GNSS measurements (eg, formatted navigation related non-GNSS sensor data), regardless of input. Where did the data originate? Additionally, the GNSS application 232 can combine the GNSS measurement data with the formatted navigation related non-GNSS sensor data to calculate navigation information for the GNSS enabled device 200. The resulting calculated navigation information for the GNSS enabled device 200 can be used to correct the sensors and/or non-GNSS sensor data collected by the respective sensors 222a-222c.

3 is a schematic diagram of an exemplary host CPU architecture of a GNSS enabled device that utilizes hybrid navigation related non-GNSS sensor data to calculate generic hybrid navigation information for a GNSS enabled device, in accordance with an embodiment of the present invention. Referring to FIG. 3, a host CPU architecture 300 of a GNSS enabled device 200 is shown. The host CPU 300 includes a host kernel module 310 and a user application module 320.

Host kernel module 310 includes suitable logic, interfaces, and/or code for managing and/or controlling resources of host CPU 300. Host core module 310 can include a plurality of sensor drivers 212-216. Each sensor drive can be assigned or associated with a particular sensor. The sensor drive (eg, sensor drive 312) may include suitable logic, interfaces, and/or code for enabling communication between the sensor (eg, sensor 222a) and host CPU 300. In this regard, the sensor drive 312 can be used to receive non-GNSS sensor data collected by the sensor 222a. Depending on the sensor configuration, the received non-GNSS sensor data may originate from various sensor targets (eg, cellular base stations, WiFi access points, Bluetooth devices, and/or natural maps). The sensor driver 312 can forward or transmit the received non-GNSS sensor data to the user application module 320 for navigation information calculation.

User application module 320 may include suitable logic, interfaces, and/or code for controlling and managing user applications (eg, GNSS applications). User application module 320 may include a conformance driver 322, a measurement error estimator 324, and a GNSS application or function 326.

The consistency driver 322 can include suitable logic, interfaces, and/or code for converting navigation-related non-GNSS sensor data into or formatted into a data format that is the same or identical to the format of the GNSS measurement data. The consistency driver 322 can also be used to receive navigation information for the GNSS enabled device 200 provided by the GNSS application or function 326. When appropriate, the consistency driver 322 can utilize the received navigation information to correct one or more of the sensors 312-316 and/or corresponding collected navigation related non-GNSS sensor data.

The measurement error estimator 324 can include suitable logic, interfaces, and/or code for calculating or evaluating measurement errors (eg, RMSE) in the collected navigation-related non-GNSS sensor data to quantify or determine the corresponding measurement accuracy. At this point, the formatted navigation-related non-GNSS sensor data with low measurement accuracy can be discarded, thereby removing erroneous measurement data from the navigation information calculation. The measurement error estimator 324 can add a time stamp or time stamp to the formatted navigation-related non-GNSS sensor data with high measurement accuracy. The generated navigation-related non-GNSS sensor data with time stamps or time stamps can be an input to the GNSS application or function 326.

The GNSS application or function 326 can include a plurality of global location pools (GLLs) and/or code for computing navigation information for the GNSS enabled device 200. In this regard, the same GNSS application or function 326 can be used to employ various non-GNSS sensor data collected by sensors in various sensor configurations for navigation information calculations, regardless of sensor type. . In this regard, the GNSS application or function 326 can calculate navigation information for the GNSS enabled device 200 using GNSS measurements and non-GNSS measurements (eg, navigation related non-GNSS sensor data). To improve or enhance the accuracy of navigation information calculations, the GNSS application or function 326 can combine GNSS measurements with non-GNSS measurements (eg, collected navigation-related non-GNSS sensor data) to calculate GNSS The navigation information of the device 200 can be. Where appropriate, the resulting calculated navigation information may be provided or transmitted to the consistency driver 322 for use in calibrating the sensor data and/or the sensor.

In an exemplary operation, a sensor drive (eg, sensor drive 312) can be loaded on host core module 310. The loaded sensor drive 312 can receive non-GNSS sensor data collected by an associated sensor (eg, sensor 222a) from a suitable sensor target. The collected non-GNSS sensor data can be transmitted to the consistency driver 322. The consistency driver 322 can automatically convert or format the collected non-GNSS sensor data into a GNSS measurement data format. The measurement error in the collected non-GNSS sensor data can be evaluated or estimated by measurement error estimator 324. In this regard, various metrics (eg, RMSE) can be implemented to quantify or determine the measurement accuracy of the collected non-GNSS sensor data. The measurement error estimator 324 can add a time stamp or time stamp to the formatted navigation-related non-GNSS sensor data with high measurement accuracy. The resulting non-GNSS sensor data with time stamps can be an input to the GNSS application or function 326. In this regard, the GNSS application can combine GNSS measurements and non-GNSS measurements (eg, time-stamped navigation-related non-GNSS sensor data from measurement error estimator 324) for navigation information. Calculation. In this regard, the GNSS application or function 326 can incorporate non-GNSS measurements to calculate navigation information regardless of where non-GNSS measurements are coming from. The navigation driver output from the GNSS application or function 326 can be provided to the consistency driver 322. When appropriate, the consistency driver 322 can utilize navigation information from the GNSS application or function 326 to correct the sensor and/or collected non-GNSS sensor data.

4 is a flow diagram of exemplary steps performed by a GNSS enabled device to merge mixed navigation related non-GNSS sensor data to suit a GNSS application, in accordance with an embodiment of the present invention. Referring to FIG. 4, the exemplary steps begin in step 402, in which the GNSS enabled device 200 is communicatively coupled to the GNSS radio 210 and various sensor configured sensors 222a-222c. Sensor drivers 312-316 can be loaded on host kernel module 310 to enable host CPU 300 and corresponding Communication between sensors 222a-222c. At step 404, the consistency driver 322 can receive navigation related non-GNSS sensor data from the sensor drivers 312-316, which can be associated with the corresponding sensor 222a- 222c is collected from the appropriate sensor target 140. At step 406, the consistency driver 322 can automatically format the collected navigation-related non-GNSS sensor data into or convert to a format that conforms to the format of the GNSS measurement data supported by the GNSS application or function 326. At step 408, the measurement error estimator 324 can be used to estimate or determine a measurement error (eg, RMSE) in the collected navigation-related non-GNSS sensor data. At step 410, measurement error estimator 324 can determine whether the collected navigation-related non-GNSS sensor data is good or accurate for navigation information calculation based on the measurement error estimate.

Where the collected navigation related non-GNSS sensor data is good enough for navigation information calculations, then at step 412, the measurement error estimator 324 can be a corresponding formatted navigation related non-GNSS sense. The logger data is time stamped and the resulting non-GNSS sensor data with time stamps is logged into the GNSS application or function 326. In this regard, host CPU 300 can signal GNSS application or function 326 to calculate combined GNSS measurements and non-GNSS sensor data associated with time-stamped navigation for navigation information. At step 414, host CPU 300 can utilize the input data to control the operation of GNSS application or function 326 to calculate navigation information (eg, GNSS position, speed, and/or time) for GNSS enabled device 200. At step 416, the generated navigation information from the GNSS application or function 326 can be provided to the consistency driver 322.

At step 410, where the collected navigation-related non-GNSS sensor data is not good enough or accurate enough for navigation information calculation, then, at step 418, the collected navigation-related non-GNSS sensors are discarded. Data to remove erroneous measurement data from navigation information calculations. The exemplary steps may return to step 404.

5 is a generalized GNSS enabled device utilizing a GNSS enabled device in accordance with an embodiment of the present invention. A flowchart of exemplary steps performed by the hybrid navigation information to correct the collected non-GNSS sensor data. Referring to FIG. 5, exemplary steps may begin in step 502, in which GNSS enabled device 200 is communicatively coupled to GNSS radio 210 and various sensor configured sensors 222a-222c. The GNSS application or function 326 may use GNSS measurement data and non-GNSS measurement data (eg, various navigation related non-GNSS sensor data) to calculate (universal hybrid) navigation information for the GNSS enabled device 200. The consistency driver 322 can monitor or track navigation information output from the GNSS application or function 326, such as position, speed, and time (PVT). At step 504, the consistency driver 322 can output, infer, or estimate the desired navigation information in the collected non-GNSS sensor data based on navigation information from the GNSS application or function 326. At step 506, the consistency driver 322 can compare the inferred navigation information to the actual navigation information represented in the non-GNSS sensor data associated with the collected navigation. At step 508, the consistency driver 322 can determine whether the inferred navigation information matches or matches the actual navigation information for the collected navigation related non-GNSS sensor data. For the collected navigation related non-GNSS sensor data, if the inferred navigation information does not match or does not match the actual navigation information, then, in step 510, the consistency driver 322 can utilize the inferred navigation. Information to correct non-GNSS sensor data and/or corresponding sensors. The exemplary steps may return to step 502.

At step 508, for the collected navigation related non-GNSS sensor data, where the inferred navigation information matches or matches the actual navigation information, then the exemplary steps may return to step 502.

The present invention provides aspects of a method and system for computing generic hybrid navigation information for a GNSS enabled device. In various exemplary embodiments of the invention, GNSS enabled device 112 may manage or process various device components, such as GNSS radio 210 and multiple sensors 222a-222c, through host CPU 230. The GNSS enabled device 112 can obtain various GNSS measurements from the GNSS signals received by the GNSS radio 210. GNSS measurements can be collected and stored in memory 240 is used to calculate navigation information (eg, position, speed, and/or time) of the GNSS enabled device 112 by a single functional module (eg, a GNSS application or function 326). The GNSS enabled device 112 can also receive navigation related non-GNSS sensor data from the sensor drivers 312-316, the navigation related non-GNSS sensor data being received by the at least two sensors 222a-222c Corresponding sensor targets (eg, cellular base stations, rate gyroscopes, and terrain model lookup tables). The consistency driver 322 can format the collected navigation related non-GNSS sensor data into a data format of the GNSS measurement data. The resulting formatted navigation-related non-GNSS sensor data can be combined with GNSS measurements to form or become a single functional module, ie, an input to the GNSS application or function 326. In this regard, the GNSS application or function 326 can combine the collected navigation related non-GNSS sensor data to calculate navigation information for the GNSS enabled device 112 regardless of sensor configuration or type. For example, the sensor (eg, sensor 222) can be configured as a cellular wireless transceiver, a wireless LAN (WLAN) or WiFi wireless transceiver, a ZigBee wireless transceiver, a Bluetooth wireless transceiver, an FM wireless transceiver, a magnetic senser , motion sensors, image sensors, sonar sensors, pressure sensors, and/or rate gyroscopes.

The GNSS enabled device 112 can estimate the measurement error in the collected navigation related non-GNSS sensor data by the measurement error estimator 324. Various metrics (such as RMSE) can be used to measure the error estimate. The measurement accuracy of the collected navigation related non-GNSS sensor data may be quantified or determined based on the measurement error estimate. The collected navigation-related non-GNSS sensor data with low measurement accuracy (large measurement error) can be discarded to remove the error measurement data from the collected navigation-related non-GNSS sensor data. The measurement error estimator 324 can selectively employ formatted navigation related non-GNSS sensor data based on the respective determined measurement accuracy. The measurement error estimator 324 can add time stamps or time stamps to the navigation-related non-GNSS sensor data employed to provide the generated GNSS application or function 326 with a time-stamped navigation-related non-GNSS sense. Tester data. GNSS application or feature 326 combines GNSS measurements with time-stamped navigation The associated non-GNSS sensor data is used to calculate navigation information for the GNSS enabled device 112. The generated navigation information of the GNSS enabled device can be provided to the consistency driver 322. In this regard, the consistency driver 322 can correct the sensor data collected by the sensors 222a-222c to improve the accuracy of the navigation information calculation. When appropriate, the consistency driver 322 can also correct one or more of the sensors 222a-222c based on the calculated navigation information of the GNSS enabled device.

Other embodiments of the present invention provide a machine and/or computer readable memory and/or medium having machine code and/or computer program stored thereon having at least one code segment executable by a machine and/or a computer such that the machine and / or a computer capable of implementing the steps of calculating a universal hybrid position of a GNSS enabled device as described herein.

The invention can be implemented by hardware, software, or a combination of soft and hard. The invention can be implemented in a centralized fashion in at least one computer system or in a decentralized manner by different portions of the computer system distributed across several interconnects. Any computer system or other device that can implement the method is applicable. A combination of commonly used hardware and software may be a general-purpose computer system with a computer program installed to control the computer system by installing and executing the program to operate as described.

The present invention can also be implemented by a computer program product containing all of the features of the method of the present invention which, when installed in a computer system, can be implemented by operation. The computer program in this document refers to any expression of a set of instructions that can be written in any programming language, code, or symbol. The instruction set enables the system to have information processing capabilities to directly implement a particular function, or to perform After one or two steps below, a) is converted into other languages, codes or symbols; b) is reproduced in a different format to achieve a specific function.

The present invention has been described in terms of several specific embodiments, and it will be understood by those skilled in the art that In addition, various modifications may be made to the invention without departing from the scope of the invention. Therefore, the invention is not limited to the specific embodiments disclosed, but should All embodiments falling within the scope of the claims of the present invention are included.

Cross-reference to related applications

The present application claims priority to U.S. Provisional Application Serial No. 61/406,433, the entire disclosure of which is hereby incorporated by reference.

Figure 4 is a flow chart with no component symbol description.

Claims (10)

A method for calculating hybrid navigation information in a Global Navigation Satellite System (GNSS) enabled device, the method comprising: collecting GNSS measurement data based on GNSS signals received by a GNSS radio transceiver; based on a non-GNSS sense The non-GNSS signal received by the detector collects non-GNSS sensor data; the collected non-GNSS sensor data is formatted to conform to the format of the collected GNSS measurement data; based on the collection Calculating the hybrid navigation information by using the GNSS measurement data and the formatted non-GNSS sensor data; estimating desired non-GNSS sensor data based on the hybrid navigation information; and correcting using the hybrid navigation information The non-GNSS sensor is responsive to the decision that the desired non-GNSS sensor data does not match the collected non-GNSS sensor data. The method of claim 1, wherein the non-GNSS sensor comprises a cellular radio transceiver, a wireless LAN (WiFi) radio transceiver, a Bluetooth radio transceiver, an FM radio transceiver, and a magnetic sexy At least one of a detector, a motion sensor, a rate gyro, a pressure sensor, an image sensor, and/or a sonar sensor. The method of claim 1, wherein the method comprises estimating a measurement error in the collected non-GNSS sensor data. The method of claim 3, wherein the method comprises determining a measurement accuracy of the collected non-GNSS sensor data based on the estimated measurement error. The method of claim 4, wherein the method comprises removing erroneous measurement data from the collected non-GNSS sensor data based on the determined measurement accuracy. The method of claim 4, wherein the method comprises selectively employing the collected non-GNSS sensor data based on the determined measurement accuracy. The method of claim 6, wherein the method comprises: adding a time stamp to the non-GNSS sensor data employed. The method of claim 7, wherein the collected GNSS measurement data is combined with the time-stamped non-GNSS sensor data to calculate the hybrid navigation information. The method of claim 8, wherein the method comprises: correcting the collected non-GNSS sensor data based on the hybrid navigation information. A system for calculating hybrid navigation information in a Global Navigation Satellite System (GNSS) enabled device, the system comprising: a processor for collecting GNSS measurements generated based on GNSS signals received by a GNSS radio transceiver Data and non-GNSS sensor data generated based on non-GNSS signals received by the non-GNSS sensor, wherein the GNSS radio is coupled to the processor; wherein the processor is further used for: format And encoding the collected non-GNSS sensor data in a format consistent with the collected GNSS measurement data; calculating based on the collected GNSS measurement data and the formatted non-GNSS sensor data The hybrid navigation information; Estimating desired non-GNSS sensor data based on the hybrid navigation information; and correcting the non-GNSS sensor using the hybrid navigation information to respond to the desired non-GNSS sensor data not The decision to match the collected non-GNSS sensor data is matched.